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A unlfted approacb to the ultra-tiptly coupled GPSlINS Integrated navigation system Is pnposed. It Is sbown that other methods of nltra-tlabtly coupled GPSIINS Integrated navigation systems are Included In the proposed framework, and some implementation issues are diseussed. In order to sbow the validity of the pnposed appnaeb, position accuracy and anti-Jamming capabilies of three methods of nltra-tlgbtly-eoupled GPSIINS integration system, Included In the pnposed framework, were compared. Tbe comparlsous were carried out through computer slmulatlons and post-pncesslng of data from a GNSS hardware simulator. Tbe resnlts show that the proposed approacb works weD and gives accurate navigation output with antl-Jammlug capability.

GPS was developed for military purposes in the United States, and is a representative global navigation satellite system (GNSS) that can be used throughout the globe. Currently, a GPS modernization project is in progress. Also, GLONASS from Russia has resumed the service through a modernization project, and it can be used throughout the globe. In addition, Galileo from EU and Beidou from China have been developed for service, and thus it is expected that various GNSS signals would be available in the future. As for the GPS L1 C/A signal which is one of the civilian signals provided by GPS, the structure is open to the public, and it has been used in the major industrial fields (e.g., aviation

-Dilution of Precision (DOP), as a measure of positioning accuracy, is an essential factor. Therefore, the DOP relationship between systems is very important. In this paper, the DOP relationship between TDOA and TOA in systems lacking clock bias is derived analytically and verified experimentally. Also, using those of earlier studies, the DOP relationship in each of defined systems is derived analytically.

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